diff options
| -rw-r--r-- | altoslib/AltosState.java | 13 | ||||
| -rw-r--r-- | altoslib/AltosTelemetryMegaSensor.java | 5 |
2 files changed, 18 insertions, 0 deletions
diff --git a/altoslib/AltosState.java b/altoslib/AltosState.java index 6d55b833..4ddcc4ed 100644 --- a/altoslib/AltosState.java +++ b/altoslib/AltosState.java @@ -464,6 +464,16 @@ public class AltosState implements Cloneable { return acceleration.max(); } + public AltosValue orient; + + public void set_orient(double new_orient) { + orient.set(new_orient, time); + } + + public double orient() { + return orient.value(); + } + public AltosValue kalman_height, kalman_speed, kalman_acceleration; public void set_kalman(double height, double speed, double acceleration) { @@ -560,6 +570,7 @@ public class AltosState implements Cloneable { pressure = new AltosPressure(); speed = new AltosSpeed(); acceleration = new AltosAccel(); + orient = new AltosValue(); temperature = AltosLib.MISSING; battery_voltage = AltosLib.MISSING; @@ -621,6 +632,7 @@ public class AltosState implements Cloneable { pressure.finish_update(); speed.finish_update(); acceleration.finish_update(); + orient.finish_update(); kalman_height.finish_update(); kalman_speed.finish_update(); @@ -665,6 +677,7 @@ public class AltosState implements Cloneable { pressure.copy(old.pressure); speed.copy(old.speed); acceleration.copy(old.acceleration); + orient.copy(old.orient); battery_voltage = old.battery_voltage; pyro_voltage = old.pyro_voltage; diff --git a/altoslib/AltosTelemetryMegaSensor.java b/altoslib/AltosTelemetryMegaSensor.java index 8afabd30..3c4f1f8f 100644 --- a/altoslib/AltosTelemetryMegaSensor.java +++ b/altoslib/AltosTelemetryMegaSensor.java @@ -34,9 +34,12 @@ public class AltosTelemetryMegaSensor extends AltosTelemetryStandard { int mag_y; int mag_z; + int orient; + public AltosTelemetryMegaSensor(int[] bytes) { super(bytes); + orient = int8(5); accel = int16(6); pres = int32(8); temp = int16(12); @@ -61,6 +64,8 @@ public class AltosTelemetryMegaSensor extends AltosTelemetryStandard { state.set_pressure(pres); state.set_temperature(temp / 100.0); + state.set_orient(orient); + AltosIMU imu = new AltosIMU(); imu.accel_x = AltosIMU.convert_accel(accel_x); |